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Four Node Iso-Parametric Quadrilateral Element
Four Node Iso-Parametric Quadrilateral Element
The mapping from (x, y) coordinate system to (s, t) coordinate is given by the shape
functions written in terms of parent element.
v3
v4
y
4
u4
t
u3
4 (-1,1)
3 (1,1)
v1
1
s
u1
v2
2
1 (-1,-1)
u2
2 (1,-1)
1
s 1 t 1 1
= ( s 1)(t 1) = (1 s )(1 t )
4
1 1 1 1 4
Similarly,
1
N 2 = (1 + s )(1 t ),
4
1
N 3 = (1 + s )(1 + t ),
4
1
N 4 = (1 s )(1 + t )
4
x = [ N1
N2
N3
x1
x
N4 ] 2 ,
x3
x4
y = [ N1
N2
N3
y1
y
N4 ] 2
y3
y4
In order to approximate strain and stress, the derivatives of shape functions with
respect to coordinate directions are required. Since shape functions depend on s and t
coordinates, chain rule of differentiation must be used.
N i N i x N i y N i N i x N i y
=
+
=
+
,
s
x s y s t
x t y t
=
N i x
t t
N i
y N i
x
s x
[J]
y N i
N i
t y
y
where [J] is the Jacobian matrix and its determinant is called the Jacobian. By inverting
the Jacobian matrix, the desired derivatives with respect to x and y can be obtained:
N i
N i
y
x
t
1
1 s
N = [ J ]
=
i
N i J x
t
t
y
y N i
s s
x N i
s t
x y x y
s t t s
Since the Jacobian appears in the denominator in the above equation, it must not be
zero anywhere over the domain (1 s, t 1).
The mapping is not valid if |J| is zero anywhere over the element.
Examples
(1) Check the validity of iso-parametric mapping for the element shown in Figure 2
y
3(2, 2)
4(0, 1)
1(0, 0)
2(1, 0)
- Nodal coordinates:
x1 = 0, x2 = 1, x3 = 2, x4 = 0
y1 = 0, y2 = 1, y3 = 2, y4 = 1
- Iso-parametric mapping:
1
x = N1 x1 + N 2 x2 + N 3 x3 + N 4 x4 = N 2 + 2 N 3 = (3 + 3s + t + st )
4
1
y = N1 y1 + N 2 y2 + N 3 y3 + N 4 y4 = 2 N 3 + N 4 = (3 + s + 3t + st )
4
- Jacobian:
x
s
[J ] =
x
t
y
s 1 3 + t 1 + t
=
y 4 1 + s 3 + s
t
1
1 1
1
J = [(3 + t )(3 + s ) (1 + t )(1 + s )] = + s + t
4
2 8
8
1 and 1
1.
(2) Check the validity of iso-parametric mapping for the element shown in Figure 4.
y
4(0, 6)
3(6, 6)
2(1, 5)
1(0, 0)
- Nodal coordinates:
x1 = 0, x2 = 1, x3 = 6, x4 = 0
y1 = 0, y2 = 5, y3 = 6, y4 = 6
- Iso-parametric mapping:
1
x = N1 x1 + N 2 x2 + N 3 x3 + N 4 x4 = (1 + s )(7 + 5t )
4
1
y = N1 y1 + N 2 y2 + N 3 y3 + N 4 y4 = (17 + 5s + 7t 5st )
4
- Jacobian:
J =
3 15s 15t
+
2 4
4
Note that |J| = 0 at 3/2 15s/4 + 15t/4, or s t = 2/5. The mapping illustrated in Figure 5
clearly shows that the mapping is invalid.
In general the element geometry is invalid if the Jacobian is either zero or negative
anywhere in the element.
Problem also arises when the Jacobian matrix is nearly singular either due to roundoff errors or due to badly shaped elements.
To avoid problems due to badly shaped elements, it is recommended that the inside
angles in quadrilateral elements be > 15 and < 165 as illustrated in Figure 6.
> 15o
< 165o
Interpolation of Displacement
- Iso-parametric mapping method in Section 6.5.1 can be used for displacement
interpolation.
-
u N1
=
v 0
N2
N3
N4
N1
N2
N3
u1
v
1
u2
0 v2
= [ N ]{d}
N 4 u3
v3
u4
v4
where the same shape functions in geometric interpolation can be used for displacement
interpolation:
1
N1 = 4 (1 s )(1 t )
N = 1 (1 + s )(1 t )
2 4
N = 1 (1 + s )(1 + t )
3 4
1
N 4 = (1 s )(1 + t )
- Jacobian Matrix
x
s
[J ] =
x
t
y
x y x y
s
, J =
y
s t t s
t
where
x N1
=[
s
s
N 2
s
N 3
s
x1
x1
x
x
N 4 2 1
] = [ 1 + t 1 t 1 + t 1 t ] 2
s x3 4
x3
x4
x4
x1
x
x 1
= [1 + s 1 s 1 + s 1 s ] 2
t 4
x3
x4
Similar expressions can be written for derivatives of y with respect to s and t. In general,
the determinant of the Jacobian matrix can be expressed as
1
J = [ x1
8
x2
x3
1 t
0
1 + t 0
x4 ]T
s t
1 s
s+t
1 s
s + t 1 + s y1
s t y2
1+ s
0
1 + t y3
1 t 0
y4
- Displacement-strain relationship
u / x
xx
u / x
1 0 0 0
u / y
v / y
=
{} = yy =
0
0
0
1
u / y + v / x 0 1 1 0 v / x
xy
v / y
u
y
x 1 t
u =
J x
y
t
v
y
x 1 t
v =
J x
t
y
y u
s s
x u
s t
y v
s s
x v
s t
v / s
/
0
0
/
/
s
J
v / y
0
x / t x / s v / t
0
0
0
1
u / t
u / t
x / t x / s
0
0
0
1
[
]
yy
y / t y / s v / s
0
J 0 1 1 0 0
v / s
xy
x / t x / s v / t
0
v / t
0
The derivative of the trial solution with respect to s and t are easy to compute:
8
u1
v
1
0
1 t
0
1+ t
0
0 u2
1 t
u / s
1 + t
u / t
1 + s
0
0
1+ s
0
1 s
0 v2
1 s
=
[G]{d}
0
1 t
0
1+ t
0
1 + t
1 t u3
v / s 4 0
v / t
0
0 1+ s
0
1 s v3
1 + s
1 s
0
u4
v4
u / t
=
A
[
]
yy
= [ A ][G]{d} [B]{d}
v / s
xy
v / t
The displacement-strain matrix [B] is not constant. Thus, the value of strain and
stress within an element changes as a function of position.
(0.1)
1 1
Different from the triangular element, the element stiffness matrix is not constant
within an element. Thus, analytical integration is not trivial. Numerical integration
ethod using Gaussian quadrature will be discussed in the next section.
where {Q NF } = [ F1x F1 y F2 x F2 y
forces.
-
F3 x
F3 y
F4 x
Ty
s
Tx
0
(1 + s ) / 2
0
0 0 0 0
(1 s ) / 2
Side 1-2: [ N ] =
, 1 s 1
0
(1 s ) / 2
0
(1 + s ) / 2 0 0 0 0
0
(1 + s ) / 2
0
0 0
0 0 (1 s ) / 2
Side 2-3: [ N ] =
, 1 s 1
0
(1 s ) / 2
0
(1 + s ) / 2 0 0
0 0
0
(1 + s ) / 2
0
0 0 0 0 (1 s ) / 2
Side 3-4: [ N ] =
, 1 s 1
0
(1 s ) / 2
0
(1 + s ) / 2
0 0 0 0
0
0 0 0 0 (1 s ) / 2
0
(1 + s ) / 2
Side 4-1: [ N ] =
, 1 s 1
+
s
s
0
(1
)
/
2
0
0
0
0
0
(1
)
/
2
1 s
1+ s
x2 +
x3 ,
2
2
y=
dx
x x
1
1
= x2 + x3 = 3 2
2
2
2
ds
dy y3 y2
=
2
ds
or
or
1 s
1+ s
y2 +
y3
2
2
x3 x 2
ds
2
y y2
dy = 3
ds
2
dx =
10
S
(x3, y3)
dx
dS
dy
s
-1
1
Side 2-3 of parent element
(x2, y2)
dS = dx 2 + dy 2 =
1
1
( x3 x2 )2 + ( y3 y2 )2 ds = L23ds
2
2
Thus, the Jacobian for each side is equal to half the length of that side. Thus,
0
0
0
0
(1 s ) / 2
1
1
0
(1 s ) / 2 Tx 1
1
L ds
{QT ,side 2-3} = h [N ]T {T} dS = h [ N ]T {T} L23 ds = h
(1 + s ) / 2
Ty 2 23
0
2
side 2 3
1
1
0
(1 + s ) / 2
0
0
0
0
hL23
[0 0 Tx
2
Ty
Tx
Ty
0 0]T
Similar to the linear triangular element, this equation says that total pressure along a
side is divided equally among the two nodes along the side.
All quantities needed for the potential energy have now been expressed in terms of
nodal unknowns. From the principle of minimum total potential energy,
[k ]{d} = {Q NT + QT }
where [k] is 88 element stiffness matrix, {d} is 81 nodal displacement vector, and
{QNT+QT} is 81 applied nodal force vector.
11
Numerical Integration
- Numerical integration evaluates the integrals involved in the element stiffness matrix
and distributed force.
-
In the finite element literature, the Gauss quadrature is usually preferred because it
requires fewer function evaluations as compared to other methods.
In the Gauss quadrature, the integrand is evaluated at predefined points (called Gauss
points). The sum of this integrand values, multiplied by appropriate weights (called
Gauss weight) gives an approximation to the integral:
1
I=
f ( s ) ds wi f ( si )
i =1
where n = number of Gauss points, si = Gauss points, wi = Gauss weights, and f(si) =
function value at the Gauss point si.
-
The locations of Gauss points and weights are derived in such a way that with n
points, a polynomial of degree 2n1 is integrated exactly.
Table 1 shows the locations of the Gauss points and corresponding weights.
Table 1 Gauss quadrature
NG
1
2
3
4
5
Integration Points
(si)
0.0
.5773502692
.7745966692
0.0
.8611363116
.3399810436
.9061798459
.5384693101
0.0
f ( x1 ) = 0,
I = w1 f ( x1 ) = 2 0 = 0
w1 = 2
12
x1 = .57735,
x2 = .57735,
w2 = 1
f ( x1 ) = .173497,
w1 = .5556
x2 = 0.0,
f ( x2 ) = 0.0
w2 = .8889
x3 = .774596669,
f ( x3 ) = 2.8505, w3 = .5556
f ( x1 ) = .0452273,
w1 = .347855
x2 = .33998104,
f ( x2 ) = .00660979,
w2 = .652145
x3 = .33998104,
f ( x3 ) = .0150102,
w3 = .652145
x3 = .86113631,
f ( x3 ) = 5.66376,
w3 = .347855
I = w1 f ( x1 ) + w2 f ( x2 ) + w3 f ( x3 ) + w4 f ( x4 ) = 2.0
It can be easily verified that this is the exact value of the integral.
-
1 1
1 1
i =1 j =1
f ( s, t ) dsdt w w
i
f ( si , t j )
s
(a) 11
(b) 22
s
(c) 33
13
The element stiffness matrix can be evaluated using 22 Gauss integration formulas:
1 1
1 1
4 (-1,1)
3 (3,2)
t
3 (1,1)
s
1 (0,0)
2 (3,0)
1 (-1,-1)
2 (1,-1)
N1 = 4 (1 s )(1 t ),
N = 1 (1 + s )(1 + t ),
3 4
1
N 2 = (1 + s )(1 t )
4
1
N 4 = (1 s )(1 + t )
4
1
N2 = ,
3
1
N3 = ,
3
N4 =
1
6
x = N I xI = 6 0 + 3 3 + 3 3 + 6 0 = 2
I =1
4
y = N y = 1 0 + 1 0 + 1 2 + 1 2 =1
I I
6
3
3
6
I =1
14
4
1
1
1
1
u = N I uI = 6 0 + 3 1 + 3 2 + 6 0 = 1
I =1
4
v = N v = 1 0 + 1 0 + 1 1 + 1 2 = 2
I I
6
3
3
6
3
I =1
N 2
s
N 3
s
N
4
s
N1
t
N 2
t
N 3
t
N
4
t
1
1
= (1 t ) =
4
4
1
1
= (1 t ) =
4
4
1
1
= (1 + t ) =
4
4
1
1
= (1 + t ) =
4
4
1
1
= (1 s ) =
4
6
1
1
= (1 + s ) =
4
3
1
1
= (1 + s ) =
4
3
1
1
= (1 s ) =
4
6
Jacobian matrix:
x
s
y
s
x
t
y
1
1
1
1
3
= 0 + 3+ 3 0 =
4
4
4
4
2
1
1
1
1
= 0 + 0 + 2 2 = 0
4
4
4
4
1
1
1
1
= 0 3+ 3+ 0 = 0
6
3
3
6
1
1
1
1
= 0 0 + 2 + 2 =1
6
3
3
6
x
s
[J] =
x
t
y
3
0
s
,
= 2
y
0
1
[J] = 3
0 1
1
N I = N I
x
t
N I
x
N
I
y
x N I
+
s y
x N I
+
t y
N I
1 s
= [J]
N I
t
y
s
y
t
N I
s
N I
t
N I
2 0 s
= 3
0 1 N I
N I
x
= [ J ] N
y
2 N I
3 s
=
N I
t
15
Strain:
4
4
u
N
2 N I
= I uI =
uI
x I =1 x
I =1 3 s
2 1
1
1
1
1
= ( 0 + 1 + 2 0) =
3 4
4
4
4
2
4
4
v
N
N
=
= I vI = I vI
y I =1 y
I =1 t
1
1
1
1
2
= 0 0 + 1 + 2 =
6
3
3
6
3
=?
xx =
yy
xy